Diff: camera_api.cpp

Revision:

10:d2401a243e8d

Parent:

8:8e49e21d80a2

--- a/camera_api.cpp	Tue Jun 24 10:06:54 2014 +0000
+++ b/camera_api.cpp	Wed Jun 25 05:07:13 2014 +0000
@@ -1,7 +1,9 @@
 #include "mbed.h"
 #include "camera_api.h"
+#define clk 2  //ms
 
-#define clk 2  //ms
+
+
 
 BX_camera::BX_camera(void)
 {
@@ -16,160 +18,25 @@
 int BX_camera::black_centerR(void)
 {
 
-    int l_care=10;
-    int r_care=118;
-
-
-    // find center
-    // case 1      //  |  //
-    // case 2       /  |  /
-
-    char find_type=0x00;
-
-    int b_end=0;
-    int b_start=0;
-
-    int b_w=0;
-    int b_center=0;
-
-    int b2_end=0;
-    int b2_start=0;
-    int b2_center=0;
-
-    int b2_w=0;
-
-    int center=30;
-    int j=64;
-    bool f1=false;
-    bool f2=false;
-    bool f3=false;
-    bool f4=false;
-    int w_thr_up=32;
-    int w_thr_dn=0;
-
-    if(sign_line_imageR[64]==' ')
-        find_type=0x02;
-    else
-        find_type=0x01;
-
-
-    for(int i=64; i<r_care; i++,j--) {
-
-
-        switch(find_type) {
-
-
-            case 0x01:
-
-                if(f1==false&&sign_line_imageR[i]==' ') {
-                    if(f1==false) {
-                        b_start=i;
-                        f1=true;
-                    }
-
-                }
-                if(f1== true&& f2==false&&sign_line_imageR[i]=='O') {
-                    if(f2==false) {
-                        b_end=i-1;
-                        f2=true;
-                    }
-
-                }
-
-                if(f3==false&&sign_line_imageR[j]==' ') {
-                    if(f3==false) {
-                        b2_end=j;
-                        f3=true;
-                    }
-
-                }
-                if(f3==true&&f4==false&&sign_line_imageR[j]=='O') {
-                    if(f4==false) {
-                        b2_start=j-1;
-                        f4=true;
-                    }
-
-                }
+    int black_left , black_right;
+    
+    for(int i = 10; i < 115; i++){
+        if(sign_line_imageR[i] == 'O' && sign_line_imageR[i+1] == ' ' && sign_line_imageR[i+2] == ' '){
+            black_left = i;
+            break;
+        }
+    } 
+    
+    for(int i = 115; i > 10; i--){
+        if(sign_line_imageR[i] == ' ' && sign_line_imageR[i+1] == ' ' && sign_line_imageR[i+2] == ' '){
+            black_right = i+2;
+            break;
+        }
+    }
+    
+    return (black_left + black_right) / 2;
 
 
-                break;
-
-
-            case 0x02:
-
-                if(sign_line_imageR[i]=='O') {
-
-                    if(f1==false) {
-                        b_end=i;
-                        f1=true;
-                    }
-                }
-
-                if(sign_line_imageR[j]=='O') {
-
-                    if(f2==false) {
-                        b_start=j;
-                        f2=true;
-                    }
-
-                }
-
-
-                break;
-
-        }
-
-
-    }
-
-    b_w=b_start-b_end;
-    b2_w=b2_start-b2_end;
-    
-    de_v=b2_start;
-    de_v2=b2_end;    
-
-    switch(find_type) {
-
-        case 0x01:
-                b_center=(b_end+b_start)/2;
-                b2_center=(b2_end+b2_start)/2;
-                
-                
-                if(w_thr_up>b_w&&(b_center!=0)&&(b_center-64)<(64-b2_center))
-                      center=b_center;                   
-                else
-                      center=b2_center;
-
-
-
-
-
-/*            if( ( w_thr_up- (b_w))>0  &&( ( w_thr_up- (b_w)) < (w_thr_up-(b2_w)) )           ) {
-                center=(b_end+b_start)/2;
-
-
-
-  //          } else if( ( w_thr_up- (b2_w) )>0 ) {
-                center=(b2_end+b2_start)/2;
-//            } else {
-
-                center=65;
-
-                //????????????????
-
-            }
-
-*/
-            break;
-
-        case 0x02:
-            center=(b_end+b_start)/2;
-
-
-            break;
-    }
-
-    return center;
    
 }
 
@@ -323,7 +190,7 @@
 
     //input 128 //both
 
-    for(int i=0; i<128; i++) {
+    for(int i=127; i>=0; i--) {
         *cam_clk=1;
         wait_us(5);
 
@@ -359,7 +226,7 @@
 
     //filter L R   //may change
 
-    for(int i=0; i<128; i++) {
+    for(int i=127; i>=0; i--) {
 
 
         if( (line_imageR[i]-b_f_vR) < (w_f_vR - line_imageR[i] )    )